We already have fingerprint reader touchpads on some devices, make those squishy instead of a hard surface and you got yourself a flesh-like feeler. As for tem

We already have fingerprint reader touchpads on some devices, make those squishy instead of a hard surface and you got yourself a flesh-like feeler. As for temperature and humidity those sensors can also be included. Although the interesting bit here is how they're integrated/distributed in humans vs how we've classically designed them in robots due to precision concerns as opposed to relative difference.